YASKAWA MP2100 Series User Manual page 303

9 Control Block Diagrams
9.1.2 Phase Control
(2) Control Block Diagram for Phase Control
OW 00 Run Commands
OW 03 Function 1
OW 05 Function 3
OW 08 Motion Command
OW 09 Motion Command Options
OW 0A Motion Subcommand
OL 10 Speed Reference
OL 1E Positioning Completed Width
OL 20 Positioning Completed Width 2
OL 22 Deviation Abnormal Detection Value
OW 26 Position Complete Timeout
OL 28 Phase Compensation
OW 31 Speed Amends
OL 16 Secondly Speed Compensation
OW 3A S-Curve Acceleration Time
OL 48 Zero Point Offset
OL 4A Work Coordinate System Offset
OL 4C Preset Data of POSMAX Turn
IW 00 Drive Status
IL 02 Warning
IL 04 Alarm
IW 08 Servo Command Type Response
IW 09 Servo Module Command Status
IW 0A Motion Subcommand Response Code
IW 0B Motion Subcommand Status
IW 0C Position Management Status
IL 0E
Machine Coordinate Target Position (TPOS)
IL 10 Target Position (CPOS)
IL 12
Machine Coordinate System Position (MPOS)
IL 14
32-bit Coordinate System Position (DPOS)
IL 16
Machine Coordinate Feedback Position (APOS)
IL 18
Machine Coordinate Latch Position (LPOS)
IL 1A Position Error (PERR)
IL 1C Target Position Difference Monitor
IL 1E POSMAX Number of Turns
IL 20 Speed Reference Output Monitor
IW 2C Network Servo Status
IW 2D Servo Alarm Code
IW 2E Network Servo I/O Monitor
IW 2F
Network Servo User Monitor Information
IW 30 Servo User Monitor 2
IL 40 Feedback Speed
IL 42 Torque (Thrust) Reference Monitor
9-8
Target
Target position
position
difference
operation operation
Electronic
Difference
gear
operation
Speed reference
unit change
Speed reference
unit change
Speed reference
unit change
Electronic
gear
Electronic
gear
Electronic
gear
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+
+
+
+
+
−